Regenerative power-amount estimation device and brake plan plotting device

ABSTRACT

A regenerative power-amount estimation device according to an embodiment includes a regenerative power-amount estimation model for each brake notch switching configured to include a transient response of an electric brake corresponding to a switching operation of a brake notch for each switching operation of the brake notch in an operation of railway vehicles. A regenerative power-amount estimation part is configured to estimate an expected amount of regenerative power acquired for a brake plan being temporal transition data of the brake notch, based on the regenerative power-amount estimation model for each brake notch switching.

CROSS REFERENCE TO RELATED APPLICATIONS

This application is based upon and claims the benefit of priority from the prior Japanese Patent Application No. 2015-198458, filed on Oct. 6, 2015, the entire contents of which are incorporated herein by reference.

FIELD

The embodiments of the present invention relate to a regenerative power-amount estimation device and a brake plan plotting device.

BACKGROUND

In the operation of railway vehicles, a driver operates a brake notch of a master controller provided in a cab to stop a train at a target position. A command of the master controller is transmitted to a vehicle controller, and the vehicle controller calculates a brake force required for decelerating and stopping the train corresponding to the brake notch operation. A brake includes an electric brake and a friction brake. Basically, the electric brake takes a priority, and if a necessary brake force cannot be obtained, the friction brake assists the electric brake. The electric brake uses a braking system for causing the electric brake to work (regenerate) as a generator normally by inversely spinning the electric brake with respect to a motor that outputs a rotative force. Therefore, an amount of regenerative power increases by using the electric brake as much as possible, thereby enabling to contribute to the energy saving operation.

Conventionally, in order to acquire the amount of regenerative power as much as possible, there has been proposed a method of performing switching determination of a brake notch so as to utilize an electric brake to a maximum extent, and displaying a determination result on a cab or applying the determination result to driving control. However, a response of the electric brake to the switching operation of the brake notch has a different time delay (a transient response) depending on circuit formation, transmission delay, or the like. According to this conventional method, regarding the transient response time, processing is omitted by a timer. Therefore, estimation of the amount of regenerative power including the transient response and that of switching determination of the brake notch are not possible.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a table showing an example of a relation between a brake notch and expected regenerative power;

FIG. 2 is a diagram showing an example of the temporal transition of the brake notch and the regenerative power;

FIG. 3 is a table showing an example of a relation between a brake notch before switching and a brake notch after switching and expected regenerative power according to the embodiment;

FIG. 4 is a diagram showing an example of discrimination between temporal transition and a transient response section of the brake notch and the regenerative power;

FIG. 5 is a block diagram of the regenerative power-amount estimation device according to the embodiment;

FIG. 6 is a flowchart of the regenerative power-amount estimation device according to the embodiment;

FIG. 7 is a block diagram of a regenerative power-amount estimation device including acquisition parts of various pieces of information according to the embodiment;

FIG. 8 is a flowchart of the regenerative power-amount estimation device including the acquisition parts of various pieces of information in the embodiment;

FIG. 9 is a diagram showing an example of a relation between a vehicle speed and expected regenerative power;

FIG. 10 is a diagram showing an example of a relation between a brake notch before switching and a brake notch after switching and a vehicle speed and expected regenerative power in the embodiment;

FIG. 11 is a diagram showing an example of a relation between vehicle speed, weather, and expected regenerative power;

FIG. 12 is a block diagram of the brake plan plotting device including the regenerative power-amount estimation device according to the embodiment;

FIG. 13 is a flowchart of the brake plan plotting device including the regenerative power-amount estimation device according to the embodiment;

FIG. 14 is a diagram showing examples of brake plan drafts generated by the brake-plan generation part according to the embodiment;

FIG. 15 shows examples of selection conditions used by the brake-plan selection part according to the embodiment;

FIG. 16 is a block diagram of the brake plan plotting device including the regenerative power-amount estimation device and acquisition parts of various pieces of information according to the embodiment;

FIG. 17 is a flowchart of the brake plan plotting device including the regenerative power-amount estimation device and the acquisition parts of various pieces of information according to the embodiment;

FIG. 18 is a block diagram of the brake plan plotting device including the regenerative power-amount estimation device and capable of inputting selection conditions according to the embodiment;

FIG. 19 is a flowchart of the brake plan plotting device including the regenerative power-amount estimation device and capable of inputting selection conditions according to the embodiment;

FIG. 20 is a block diagram of a brake plan plotting device including the regenerative power-amount estimation device and capable of outputting a brake plan to vehicle control according to the embodiment;

FIG. 21 is a flowchart of the brake plan plotting device including the regenerative power-amount estimation device and capable of outputting a brake plan to vehicle control according to the embodiment;

FIG. 22 is a block diagram including the regenerative power-amount estimation device and capable of outputting a brake plan to vehicle control through an execution instruction according to the embodiment;

FIG. 23 is a flowchart of a brake plan plotting device including the regenerative power-amount estimation device and capable of outputting a brake plan to vehicle control through an execution instruction according to the embodiment;

FIG. 24 is a diagram showing an example of a GUI for inputting an execution instruction in the embodiment;

FIG. 25 is a block diagram of the regenerative power-amount estimation device and the brake plan plotting device having the respective additional functions according to the embodiment; and

FIG. 26 is a flowchart of the regenerative power-amount estimation device and the brake plan plotting device having the respective additional functions described above according to the embodiment.

DETAILED DESCRIPTION

A regenerative power-amount estimation device according to an embodiment includes a regenerative power-amount estimation model for each brake notch switching configured to include a transient response of an electric brake corresponding to a switching operation of a brake notch for each switching operation of the brake notch in an operation of railway vehicles. A regenerative power-amount estimation part is configured to estimate an expected amount of regenerative power acquired for a brake plan being temporal transition data of the brake notch, based on the regenerative power-amount estimation model for each brake notch switching.

Embodiments will now be explained with reference to the accompanying drawings. In the following embodiments, same constituent elements are denoted by like reference characters and redundant explanations thereof will be omitted.

First Embodiment

A regenerative power-amount estimation device according to a first embodiment is described.

FIG. 1 is a table showing an example of a relation between a brake notch and expected regenerative power. As shown in FIG. 1, by ascertaining beforehand regenerative power that is acquired (expected regenerative power [kW]) with respect to the brake notch, an expected amount of regenerative power being a time integral value of the expected regenerative power can be calculated from temporal transition of the brake notch in an arbitrary operating section. This is the simplest method, and an influence of information other than the brake notch is not taken into consideration. In the example of FIG. 1, the number of stages of the brake notch is four stages from 0 to 3; however, in practice, any number of stages can be used.

FIG. 2 is a diagram showing an example of the temporal transition of the brake notch and the regenerative power. A horizontal axis denotes time and a vertical axis denotes the brake notch and regenerative power [kW], where a solid line indicates the brake notch and a broken line indicates the regenerative power. As shown in FIG. 2, the regenerative power with respect to a switching operation of the brake notch has a time delay (a transient response) resulting from circuit formation, transmission delay, or the like with respect to the time just when the brake notch is switched. When only the relation shown in FIG. 1 is used, the transient response cannot be taken into consideration. Therefore, estimation accuracy of the expected amount of regenerative power with respect to the actual amount of regenerative power deteriorates.

Therefore, in the first embodiment, a model of estimating the regenerative power for each switching operation of the brake notch is established, while focusing on that the transient response occurs due to switching of the brake notch, and that the characteristic of the transient response changes according to a combination of the brake notch before switching and the brake notch after switching in the switching operation of the brake notch.

FIG. 3 is a table showing an example of a relation between a brake notch before switching and a brake notch after switching and expected regenerative power according to the embodiment. Rows denote the brake notch (0 to 3) before switching and columns denote the brake notch (0 to 3) after switching, where respective numerical values indicate the expected regenerative power [kW]. For example, it is assumed that the brake notch at a certain estimated time is 2. If the relation in FIG. 1 is used, the expected regenerative power becomes 1000 [kW]. If the relation in FIG. 3 is used, the expected regenerative power at that time, that is, when the brake notch after switching is 2 is different depending on the brake notch immediately before that time. In the case of 0, the expected regenerative power is 800 [kW], in the case of 1, the expected regenerative power is 900 [kW], in the case of 2, the expected regenerative power is held at 1000 [kW] because there is no switching (based on FIG. 1 because it is not specified in FIG. 3). In the case of 3, the expected regenerative power is 1100 [kW], and when taken together, the expected regenerative power is in the range from 800 [kW] to 1100 [kW].

FIG. 4 is a diagram showing an example of discrimination between temporal transition and a transient response section of the brake notch and the regenerative power. The transient response gradually converges to a steady state according to passage of time. Therefore, as shown in FIG. 4, by defining A as a transient response section and B as a section other than the transient response, the relation shown in FIG. 3 can be used for the range of A, and the relation shown in FIG. 1 can be used for the range of B.

In this manner, by using the relation of FIG. 3 or using both the relations of FIG. 3 and FIG. 1, the expected amount of regenerative power can be calculated, while taking the transient response of the regenerative power into consideration, based on the temporal transition of the brake notch in an arbitrary operating section. Therefore, the estimation accuracy of the expected amount of regenerative power with respect to the actual amount of regenerative power can be improved as compared to the case where only the relation shown in FIG. 1 is used, by taking the transient response into consideration.

FIG. 5 is a block diagram of the regenerative power-amount estimation device according to the embodiment. A regenerative power-amount estimation device 500 includes a regenerative power-amount estimation part 501 and a regenerative power-amount estimation model 502 for each brake notch switching. A brake plan 503 is input to the regenerative power-amount estimation part 501 and an estimation result is output therefrom to a display 504. FIG. 5 corresponds to the configuration of respective functions described above.

FIG. 6 is a flowchart of the regenerative power-amount estimation device according to the embodiment. FIG. 6 corresponds to a processing flow of respective functions described above. In the first embodiment, it is necessary to establish the regenerative power-amount estimation model 502 for each brake notch switching. The model specifically refers to the table shown in FIG. 3 (the relation between the brake notch before switching and the brake notch after switching and expected regenerative power) and a table shown in FIG. 10 described later (the relation between the brake notch before switching and the brake notch after switching and vehicle speed and expected regenerative power). For example, by acquiring operation data of railway vehicles and aggregating data for each switching operation of the brake notch, the model 502 is established. The model can be stored in a memory device.

A process is started (S601). First, the regenerative power-amount estimation device 500 acquires temporal transition data (the brake plan 503) of the brake notch for which it is desired to estimate the amount of regenerative power (S602). The regenerative power-amount estimation part 501 estimates an expected amount of regenerative power that is acquired by the input brake plan 503 based on the regenerative power-amount estimation model 502 for each brake notch switching (S603). The regenerative power-amount estimation part 501 outputs the estimated expected amount of regenerative power to the display 504 (S604). The process is finished (605).

In the configuration described in the first embodiment, by having the regenerative power-amount estimation model for each switching operation of the brake notch, the expected amount of regenerative power can be estimated highly accurately, taking the transient response into consideration.

Second Embodiment

In a second embodiment, a regenerative power-amount estimation device including acquisition parts of various pieces of information is described.

FIG. 7 is a block diagram of a regenerative power-amount estimation device including acquisition parts of various pieces of information according to the embodiment. The regenerative power-amount estimation device has a configuration in which gradient/curve information 701, and respective acquisition parts 702 to 707 of vehicle speed, vehicle weight, weather, trolley voltage, sliding state, and vehicle connected state are added as inputs to the regenerative power-amount estimation part, with respect to the configuration described in the first embodiment.

The gradient/curve information is information of gradient and curve unique to a track. The vehicle speed is the operating speed of a vehicle, and normally it has the same value in a formation not by a vehicle number. The vehicle weight indicates a weight of a vehicle including passengers and other equipment, and has a value different by a vehicle number. Weather indicates information such as rain and snow in an operating place. The trolley voltage indicates a voltage applied to a motor from an overhead line through a pantograph, and has a value different by a vehicle number according to the characteristic of the motor or the like. Regarding the sliding state, a slipping phenomenon caused by weakening of the adhesive force of vehicle wheels with respect to the rail is referred to as sliding, and the sliding state indicates information of presence of occurrence and prediction of occurrence of sliding. In the vehicle control, the brake force is controlled so that sliding does not occur. The vehicle connected state indicates information whether a formation of a different system is connected.

In the second embodiment, the regenerative power-amount estimation part uses these pieces of information together to estimate the expected amount of regenerative power.

FIG. 8 is a flowchart of the regenerative power-amount estimation device including the acquisition parts of various pieces of information in the embodiment.

A process is started (S801). First, the regenerative power-amount estimation device acquires temporal transition data (the brake plan) of the brake notch for which it is desired to estimate the amount of regenerative power (S802). The regenerative power-amount estimation part acquires information of gradient, curve, vehicle speed, vehicle weight, weather, trolley voltage, sliding state, and vehicle connected state from the respective acquisition parts (S803). The regenerative power-amount estimation part estimates an expected amount of regenerative power that is acquired by the input brake plan based on these acquired pieces of information and the regenerative power-amount estimation model 502 for each brake notch switching (S804). The regenerative power-amount estimation part displays the estimated expected amount of regenerative power on the display together with the brake plan (S805). The process is finished (S806).

FIG. 9 is a diagram showing an example of a relation between a vehicle speed and expected regenerative power. For example, regarding the vehicle speed, it has been found that as the vehicle speed increases, the expected regenerative power increases. Accordingly, the relation shown in FIG. 9 can be modeled by a linear equation or the like. Therefore, by taking the vehicle speed into consideration for estimating the expected regenerative power, highly accurate estimation of the expected regenerative power can be performed.

FIG. 10 is a diagram showing an example of a relation between a brake notch before switching and a brake notch after switching and a vehicle speed and expected regenerative power in the embodiment. When the vehicle speed is taken into consideration as shown in FIG. 9, the relation can be modeled by a relational expression in which the vehicle speed is set as a variable for each switching operation of the brake notch as shown in FIG. 10.

FIG. 11 is a diagram showing an example of a relation between vehicle speed, weather, and expected regenerative power. The weather information is further added to the relation shown in FIG. 9, and a model of the relation in FIG. 9 can be switched for example by weather such as fine, rain, and snow.

Regarding other pieces of information, a specific method of consideration does not matter, for example, the pieces of information are considered as variables in the relational expression, or the pieces of information are considered by switching the relational expression.

In the configuration described in the second embodiment, by taking into consideration the gradient/curve information, vehicle speed, vehicle weight, weather, trolley voltage, sliding state, and vehicle connected state for estimation of the expected regenerative power, estimation of the expected regenerative power with higher accuracy can be performed.

Third Embodiment

In a third embodiment, a brake plan plotting device is described.

FIG. 12 is a block diagram of the brake plan plotting device including the regenerative power-amount estimation device according to the embodiment. The configuration thereof is such that a plurality of brake plans are created and held with respect to the configuration described in the first embodiment, to estimate the expected amount of regenerative power in all the brake plans and select a brake plan adapted to a selected condition.

In a brake plan plotting device 1200, a brake-plan generation part 1201 generates a plurality of brake plans based on time acquired by a time acquisition part 1202, diagram information 1203, and position information 1204.

The regenerative power-amount estimation device estimates the expected amount of regenerative power in all the brake plans based on the regenerative power-amount estimation model for each brake notch switching in the regenerative power-amount estimation part. The configuration is such that a brake plan adapted to the selected condition is selected by a brake-plan selection part 1205. Various results are output to the display.

FIG. 13 is a flowchart of the brake plan plotting device including the regenerative power-amount estimation device according to the embodiment.

A process is started (S1301). First, the brake plan plotting device acquires pieces of information of time, diagram, and position (S1302). The brake plan plotting device generates a plurality of brake plans capable of keeping on-time performance based on the acquired pieces of information (S1303). At this time, as a method of generating the brake plan, the brake plan can be generated by temporally shifting the brake notch at random, or the brake plan can be generated based on the past brake historical data, and the specific method does not matter.

FIG. 14 is a diagram showing examples of brake plan drafts generated by the brake-plan generation part according to the embodiment. In FIG. 14, a state where three brake plans, that is, a brake plan draft 1, a brake plan draft 2, and a brake plan draft 3 are generated is shown. The brake plan plotting device according to the third embodiment generates brake plans in this manner. In each brake plan draft, a horizontal axis denotes time and a vertical axis denotes brake notch.

The brake plan plotting device estimates the expected amount of regenerative power in the generated brake plans based on the regenerative power-amount estimation model for each brake notch switching (S1304). The estimated expected amount of regenerative power is linked to the corresponding brake plan respectively and held.

The brake plan plotting device selects a brake plan satisfying the selected condition from the brake plans linked with the estimated expected amount of regenerative power (S1305).

FIG. 15 shows examples of selection conditions used by the brake-plan selection part according to the embodiment. As the selection conditions for selecting the brake plan, conditions shown in FIG. 15 are set beforehand. These selection conditions can be freely switched within a range capable of performing quantitative evaluation. For example, the expression of “expected amount of regenerative power is largest without braking hard suddenly” shown in a selection condition 4 in FIG. 15 can be handled by specifying an upper limit of operation of the brake notch with unit time interval.

The brake plan plotting device displays the selected brake plan and the estimated expected amount of regenerative power (S1306). The process is finished (S1307).

In the configuration described in the third embodiment, by generating a plurality of brake plans based on the acquired pieces of information, estimating the expected amount of regenerative power in all the brake plans, and selecting a brake plan adapted to the selected condition, not only the expected amount of regenerative power can be estimated by inputting a single brake plan but also a brake plan in which the expected amount of regenerative power further increases can be plotted.

Fourth Embodiment

In a fourth embodiment, a brake plan plotting device including acquisition parts of various pieces of information is described.

FIG. 16 is a block diagram of the brake plan plotting device including the regenerative power-amount estimation device and acquisition parts of various pieces of information according to the embodiment. The configuration is such that gradient/curve information 1601, and respective acquisition parts 1602 to 1604 of vehicle speed, vehicle weight, and weather are added as inputs to the brake-plan generation part with respect to the configuration described in the third embodiment. Because a more brake force is required for example if the vehicle weight is large, at the time of plotting a brake plan, the brake plan is plotted by taking the vehicle weight into consideration. Regarding other pieces of information, a specific method of consideration does not matter, for example, the pieces of information are considered as variables in the relational expression, or the pieces of information are considered by switching the relational expression.

FIG. 17 is a flowchart of the brake plan plotting device including the regenerative power-amount estimation device and the acquisition parts of various pieces of information according to the embodiment.

A process is started (S1701). First, the brake plan plotting device acquires pieces of information of time, diagram, position, gradient, curve, vehicle speed, vehicle weight, and weather (S1702). A plurality of brake plans capable of keeping on-time performance are generated based on the acquired pieces of information (S1703).

The brake plan plotting device estimates the expected amount of regenerative power in the generated brake plans based on the regenerative power-amount estimation model for each brake notch switching (S1704).

The brake plan plotting device selects a brake plan satisfying the selected condition from the brake plans linked with the estimated expected amount of regenerative power (S1705).

The brake plan plotting device displays the selected brake plan and the estimated expected amount of regenerative power (S1706). The process is finished (S1707).

In the configuration described in the fourth embodiment, by taking into consideration the gradient, curve, vehicle speed, vehicle weight, and weather for generation of the brake plan, a brake plan capable of keeping on-time performance more accurately can be generated.

Fifth Embodiment

In a fifth embodiment, a brake plan plotting device capable of inputting selection conditions is described.

FIG. 18 is a block diagram of the brake plan plotting device including the regenerative power-amount estimation device and capable of inputting selection conditions according to the embodiment. A selection condition input part 1801 is added as an input to the brake-plan selection part with respect to the configuration described in the third embodiment. The selection conditions as shown in FIG. 15 can be appropriately switched according to the operating status.

FIG. 19 is a flowchart of the brake plan plotting device including the regenerative power-amount estimation device and capable of inputting selection conditions according to the embodiment.

A process is started (S1901). First, the brake plan plotting device acquires pieces of information of time, diagram, and position (S1902). The brake plan plotting device generates a plurality of brake plans capable of keeping on-time performance based on the acquired pieces of information (S1903).

The brake plan plotting device estimates the expected amount of regenerative power in the generated brake plans based on the regenerative power-amount estimation model for each brake notch switching (S1904). The brake plan plotting device acquires selection conditions (S1905).

The brake plan plotting device selects a brake plan satisfying the acquired selected condition from the brake plans linked with the estimated expected amount of regenerative power (S1906).

The brake plan plotting device displays the selected brake plan and the estimated expected amount of regenerative power (S1907). The process is finished (51908).

In the configuration described in the fifth embodiment, by enabling to input the selection conditions to the brake-plan selection part from outside, the selection conditions can be appropriately switched according to the operating status, and adaptive operation taking into consideration emphasis on energy saving property, emphasis on comfort, or the like can be performed.

Sixth Embodiment

In a sixth embodiment, a brake plan plotting device capable of outputting a brake plan to vehicle control is described.

FIG. 20 is a block diagram of a brake plan plotting device including the regenerative power-amount estimation device and capable of outputting a brake plan to vehicle control according to the embodiment. A vehicle controller 2001 is added to the configuration described in the third embodiment as an output destination of the brake-plan selection part. In practice, vehicles can be controlled according to the selected brake plan.

FIG. 21 is a flowchart of the brake plan plotting device including the regenerative power-amount estimation device and capable of outputting a brake plan to vehicle control according to the embodiment.

A process is started (S2101). First, the brake plan plotting device acquires pieces of information of time, diagram, and position (S2102). The brake plan plotting device generates a plurality of brake plans capable of keeping on-time performance based on the acquired pieces of information (S2103).

The brake plan plotting device estimates the expected amount of regenerative power in the generated brake plans based on the regenerative power-amount estimation model for each brake notch switching (S2104).

The brake plan plotting device selects a brake plan satisfying the selected condition from the brake plans linked with the estimated expected amount of regenerative power (S2105).

The brake plan plotting device displays the selected brake plan and the estimated expected amount of regenerative power (S2106). The brake plan plotting device controls vehicles based on the selected brake plan (S2107). The process is finished (S2108).

In the configuration described in the sixth embodiment, by enabling to output the brake plan selected by the brake-plan selection part to outside, vehicle control according to the brake plan can be performed, thereby enabling operations irrespective of the operation ability of a driver.

Seventh Embodiment

In a seventh embodiment, a brake plan plotting device capable of outputting a brake plan to vehicle control through an execution instruction is described.

FIG. 22 is a block diagram including the regenerative power-amount estimation device and capable of outputting a brake plan to vehicle control through an execution instruction according to the embodiment. An execution instruction input part 2201 is added between an output of the brake-plan selection part and an input of the vehicle controller, with respect to the configuration described in the sixth embodiment. Before actually controlling the vehicle according to the selected brake plan, confirmation of execution intention can be performed with respect to a driver.

FIG. 23 is a flowchart of a brake plan plotting device including the regenerative power-amount estimation device and capable of outputting a brake plan to vehicle control through an execution instruction according to the embodiment.

A process is started (S2301). First, the brake plan plotting device acquires pieces of information of time, diagram, and position (2302). The brake plan plotting device generates a plurality of brake plans capable of keeping on-time performance based on the acquired pieces of information (S2303).

The brake plan plotting device estimates the expected amount of regenerative power in the generated brake plans based on the regenerative power-amount estimation model for each brake notch switching (S2304).

The brake plan plotting device selects a brake plan satisfying the selected condition from the brake plans linked with the estimated expected amount of regenerative power (S2305).

The brake plan plotting device displays the selected brake plan and the estimated expected amount of regenerative power (S2306).

The brake plan plotting device acquires an execution instruction whether to execute the selected brake plan (S2307). In the case of the execution instruction (YES at S2308), the brake plan plotting device controls the vehicle based on the selected brake plan (S2309), to finish the process (S2310). In the case of not being the execution instruction (NO at S2308), the brake plan plotting device finishes the process (S2310).

FIG. 24 is a diagram showing an example of a GUI for inputting an execution instruction in the embodiment. The top part of FIG. 24 indicates temporal transition data of the selected brake plan, and a table in the middle part of FIG. 24 indicates the expected amount of regenerative power and the used selection conditions when the brake plan has been executed. The bottom part of FIG. 24 indicates a question for confirming the execution intention to a driver or the like and buttons for the response thereto. Other than these pieces of information, data required for confirming the intention such as vehicle state and weather information can be shown together.

In the configuration described in the seventh embodiment, by enabling to confirm whether to execute the brake plan selected by the brake-plan selection part by the GUI, vehicle control according to the brake plan can be performed after gaining the consent of the driver or the like. Accordingly, operations irrespective of the operation ability of the driver can be performed while excluding troubles, faults, accidents, or the like due to automatic execution of an unintended brake plan.

Eighth Embodiment

In an eighth embodiment, a brake plan plotting device having the respective additional functions is described.

FIG. 25 is a block diagram of the regenerative power-amount estimation device and the brake plan plotting device having the respective additional functions according to the embodiment. In the configuration shown in FIG. 25, an operation combining all the embodiments described above is performed.

FIG. 26 is a flowchart of the regenerative power-amount estimation device and the brake plan plotting device having the respective additional functions described above according to the embodiment.

A process is started (S2601). First, the brake plan plotting device acquires pieces of information of time, diagram, position, gradient, curve, vehicle speed, vehicle weight, and weather (S2602). The brake plan plotting device generates a plurality of brake plans capable of keeping on-time performance based on the acquired pieces of information (S2603).

The brake plan plotting device acquires pieces of information of gradient, curve, vehicle speed, vehicle weight, weather, trolley voltage, sliding state, and vehicle connected state (S2604).

The brake plan plotting device estimates the expected amount of regenerative power in the generated brake plans based on the regenerative power-amount estimation model for each brake notch switching (S2605).

The brake plan plotting device selects a brake plan satisfying the selection condition from the brake plans linked with the estimated expected amount of regenerative power (S2605). The brake plan plotting device acquires a selection condition (S2606).

The brake plan plotting device selects a brake plan satisfying the acquired selection condition from the brake plans linked with the estimated expected amount of regenerative power (S2607). The brake plan plotting device displays the selected brake plan and the estimated expected amount of regenerative power (S2608).

The brake plan plotting device acquires an execution instruction whether to execute the selected brake plan (S2609). In the case of the execution instruction (YES at S2610), the brake plan plotting device controls the vehicle based on the selected brake plan (S2611), to finish the process (S2612). In the case of not being the execution instruction (NO at S2610), the brake plan plotting device finishes the process (S2612).

In the configuration described in the eighth embodiment, the effects described in the respective embodiments described above can be acquired comprehensively.

As described above, according to the eighth embodiment, the amount of regenerative power can be estimated accurately to enable contribution to the energy saving operation, by holding the regenerative power-amount estimation model for each switching operation of the brake notch and taking into consideration a transient response in the respective switching operations of the brake notch, regarding the operating method and the operating system of the railway vehicles.

While certain embodiments have been described, these embodiments have been presented by way of example only, and are not intended to limit the scope of the inventions. Indeed, the novel methods and systems described herein may be embodied in a variety of other forms; furthermore, various omissions, substitutions and changes in the form of the methods and systems described herein may be made without departing from the spirit of the inventions. The accompanying claims and their equivalents are intended to cover such forms or modifications as would fall within the scope and spirit of the inventions. 

1. A regenerative power-amount estimation device comprising: a regenerative power-amount estimation model for each brake notch switching, the regenerative power-amount estimation model including a transient response of an electric brake corresponding to a switching operation of a brake notch for each switching operation of the brake notch in an operation of railway vehicles; and a regenerative power-amount estimation part estimating an expected amount of regenerative power acquired for a brake plan being temporal transition data of the brake notch, based on the regenerative power-amount estimation model for each brake notch switching.
 2. The device of claim 1, wherein at least one of gradient/curve information, vehicle speed, vehicle weight, weather, trolley voltage, sliding state, and vehicle connected state is set as an input to the regenerative power-amount estimation part.
 3. A brake plan plotting device comprising: a brake-plan generator generating a plurality of brake plans capable of keeping on-time performance based on time, diagram information, and position information; and a brake-plan selector selecting a brake plan satisfying a selection condition regarding the brake plans, based on an expected amount of regenerative power estimated by the regenerative power-amount estimation part of claim
 1. 4. The device of claim 3, wherein at least one of gradient/curve information, vehicle speed, vehicle weight, and weather is set as an input to the brake-plan generation part.
 5. The device of claim 3, comprising a selection condition input part inputting the selection condition to the brake-plan selector.
 6. The device of claim 3, wherein the brake-plan selector outputs a selected brake plan to a vehicle controller controlling vehicles according to the brake plan.
 7. The device of claim 6, comprising an execution instruction input part inputting an execution instruction whether to control vehicles according to the brake plane selected by the brake-plan selector.
 8. The device of claim 3, comprising the regenerative power-amount estimation device of claim
 1. 9. The device of claim 3, comprising the regenerative power-amount estimation device of claim
 2. 10. The device of claim 4, comprising the regenerative power-amount estimation device of claim
 1. 11. The device of claim 4, comprising the regenerative power-amount estimation device of claim
 2. 12. The device of claim 5, comprising the regenerative power-amount estimation device of claim
 1. 13. The device of claim 5, comprising the regenerative power-amount estimation device of claim
 2. 14. The device of claim 6, comprising the regenerative power-amount estimation device of claim
 1. 15. The device of claim 6, comprising the regenerative power-amount estimation device of claim
 2. 16. The device of claim 7, comprising the regenerative power-amount estimation device of claim
 1. 17. The device of claim 7, comprising the regenerative power-amount estimation device of claim
 2. 